Design and analysis on the dynamics of ICPF actuated tortoise-like flexible micro-robot

In the paper, we present a novel tortoise-like flexible micro-robot with four legs which can crawl and swim underwater. These legs are actuated by ICPF (Ionic Conducting Polymer Film) which is a kind of smart film and has the characteristics of flexibility, good response and being driven by a low voltage. For improving the robot's reliability and feasibility, we establish the micro-robot's dynamic model by applying Pseudo-Rigid-Body-Dynamic-Model (PRBDM). The model is established by considering the dynamic effect of the robot, which is based on statics and kinematics. Then, the frequency analysis of a micro-robot based on PRBDM is investigated. Based on the PRBDM, the relation between the robot's structure parameters and its natural frequency is theoretically derived and a numerical computation of the robot is performed.

[1]  Shuxiang Guo,et al.  A new type of fish-like underwater microrobot , 2003 .

[2]  Larry L. Howell,et al.  Dynamic Modeling of Compliant Mechanisms Based on the Pseudo-Rigid-Body Model , 2005 .

[3]  Shuxiang Guo,et al.  Development of an artificial fish microrobot , 1999, MHS'99. Proceedings of 1999 International Symposium on Micromechatronics and Human Science (Cat. No.99TH8478).

[4]  Shuxiang Guo,et al.  Fish-like underwater microrobot with multi DOF , 2001, MHS2001. Proceedings of 2001 International Symposium on Micromechatronics and Human Science (Cat. No.01TH8583).

[5]  Toshi Takamori,et al.  An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[6]  Toshi Takamori,et al.  Development of a distributed actuation device consisting of soft gel actuator elements , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).